/*
 jog.h - Jogging methods
 Part of Grbl

 Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC

 Grbl is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 Grbl is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "jog.h"
#include "grbl.h"
#include "report.h"
#include "system.h"

// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
{
    // Initialize planner data struct for jogging motions.
    // NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
    pl_data->feed_rate = gc_block->values.f;
    pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
    pl_data->line_number = gc_block->values.n;

    if (bit_istrue(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE))
    {
        if (system_check_travel_limits(gc_block->values.xyz))
        {
            return (STATUS_TRAVEL_EXCEEDED);
        }
    }

    // Valid jog command. Plan, set state, and execute.
    mc_line(gc_block->values.xyz, pl_data);
    if (sys.state == STATE_IDLE)
    {
        if (plan_get_current_block() != NULL)
        { // Check if there is a block to execute.
            sys.state = STATE_JOG;
            st_prep_buffer();
            st_wake_up();  // NOTE: Manual start. No state machine required.
        }
    }

    return (STATUS_OK);
}
